CN113319846A

CN113319846A - Mechanical claw for making coffee beverage

Info

Publication number: CN113319846A
Application number: CN202010945830.7A
Authority: CN
Inventors: 朴鲁燮
Original assignee: Puletu Co ltd
Current assignee: Puletu Co ltd
Priority date: 2020-02-28
Filing date: 2020-09-10
Publication date: 2021-08-31
Also published as: US20210268648A1; KR102118843B1; EP3871843A1

Abstract

The gripper for making coffee beverages according to the present invention, coupled to the end of a manipulator arm (100), comprises: a rotating bracket (200) rotatably coupled to an end of the robot arm (100); a first grasping assembly (300) combined to one side of the rotating bracket (200) and grasping a cup (700) or a cap (800); a second grip assembly (400) coupled to the other side of the rotary bracket (200) and gripping a milk bottle (900); an air chuck (500) which is respectively combined on both sides of the rotary bracket (200) to drive the first gripping assembly (300) and the second gripping assembly (400); and a pressing head (600) fixed to one side of the second grip assembly (400) and pressing the cap (800) placed on the upper portion of the cup (700) to couple the cap (800) to the upper portion of the cup (700).

Description

Mechanical claw for making coffee beverage

Technical Field

The present invention relates to a gripper for making coffee beverage, and more particularly, to a gripper for making coffee beverage, which is coupled to an end of a manipulator arm so as to stably grip a cup, a cup lid, and a milk pot, and which is coupled to the end of the manipulator arm by pressing the cup lid placed on an upper portion of the cup.

Background

Recently, consumer interest in coffee has continued to increase, and the number of coffee exclusive shops selling coffee is also on a gradually increasing trend.

Coffee beverages prepared from raw coffee beans are broadly classified into instant coffee and raw coffee beans. Furthermore, the raw coffee beans are classified into hand coffee, espresso machine coffee, and the like according to the extraction method of the coffee raw beans.

In particular, among various coffees sold in coffee shops, espresso is used as a basic material, and coffee beverages such as american coffee, latte, macchiato, and cappuccino using the espresso are prepared only by manual operations of a coffee maker.

Therefore, the proficiency of the unskilled and professional coffee makers determines the taste of the coffee beverage, and affects the sales of the stores.

In addition, one of the major expenses in the operation of the exclusive coffee shop is labor expense, and a coffee vending machine is provided to reduce the labor expense, but coffee having a satisfactory taste cannot be provided therethrough.

An example of a technique for solving such a problem is disclosed in the following document 1.

Patent document 1 discloses an apparatus for making espresso coffee and a coffee beverage using the same, comprising: an espresso providing part including a cup mat part for placing a cup filled with espresso made by the first robot; a coffee beverage supply unit that supplies various coffee beverages by an espresso coffee making process by a second robot and discharges the coffee beverages to a discharge unit, the espresso coffee being made and supplied from the espresso coffee supply unit and supplied to the cup pad unit in a state of being held in a cup; the terminal is arranged on the machine body; the espresso providing portion includes: a cup feeder arranged at the upper or lower part of the machine body; providing raw beans and humidifying the raw beans, grinding the raw beans, filling a certain amount of ground raw beans into a bean tank filter and humidifying the raw beans by using a humidifying machine; a coffee machine which combines the wetted bean tank filter with the combined head and extracts the espresso; a garbage can for separating the bean tank filter from the combined head and throwing away the original bean residue left in the bean tank filter after extracting the concentrated coffee; a washing machine washing and drying the bean tank filter; an orthogonal manipulator having a structure including an X-axis manipulator crossing the lower sides of the raw bean supplying and humidifying machine and the coffee machine, a Z-axis manipulator vertically coupled to the X-axis manipulator and performing an elevating operation, and a turn table coupled to the Z-axis manipulator and rotated, wherein a bean tank filter is placed on the turn table, and a combination head coupled to the coffee machine receives raw beans from the raw bean supplying and humidifying machine; a cup mat part for placing a cup filled with espresso coffee extracted from the coffee maker; the cup feeder, coffee maker, trash can, cleaning machine are configured to be located within the radius of motion of the first manipulator.

In particular, in the case of the scalla robot used as the first and second robots, the first and second robots are configured to be rotatable and to be able to grip a finger of an object. In this case, the finger has a function of gripping the object and a rotating tool, and the direction of the gripped object can be switched by rotating the finger.

However, as described above, since the conventional cup is supplied to the next person without covering the lid of the cup with coffee beverage, the conventional fingers simply perform the function of gripping the cup or releasing the grip, and thus the range of use is limited.

Recently, in order to prevent deterioration of taste and flavor of coffee beverage, a technology for covering an upper portion of a cup containing coffee beverage with a cup lid provided to a lower person has been developed, which requires development of a device for stably coupling the upper portion of the cup with a grip of the cup lid.

Prior art documents

Patent document

Patent document 1: korean registered patent publication No. 10-1963652 (2019.03.25. registration)

Disclosure of Invention

Technical problem to be solved

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a gripper for producing coffee beverages, which can stably grip a cup, a cup lid, and a milk pot by a gripper coupled to an end of a manipulator arm, and which can press and couple a cup lid placed on an upper portion of the cup.

Further, a gripper for producing a coffee beverage is provided, in which a grip unit of the gripper is formed in a double-weight type, so that the direction change is easy and the coffee beverage producing time is shortened.

Means for solving the problems

In order to achieve the above object, a gripper for producing a coffee beverage according to the present invention is coupled to an end of a manipulator arm 100, and includes: a rotation bracket 200 rotatably coupled to an end of the robot arm 100; a first grasping assembly 300 coupled to one side of the rotating bracket 200 and grasping the cup 700 or the cap 800; a second grip assembly 400 coupled to the other side of the rotary bracket 200 and gripping the milk pot 900; an air chuck 500 coupled to both sides of the rotary bracket 200 to drive the first and

second grip assemblies

300 and 400; and a pressing head 600 fixed to one side of the second grasping assembly 400, and pressing the cap 800 placed on the upper portion of the cup 700 to couple the cap 800 to the upper portion of the cup 700.

Further, it is characterized in that the rotating bracket 200 includes: a fixing unit 210 that is fixed in contact with an end surface of the robot arm 100; and a coupling portion 220 bent to be inclined downward from both ends of the fixing portion 210, and a reinforcing piece 221 integrally bent to surround a portion of the air chuck 500 at a periphery of the coupling portion 220.

Further, the first grip unit 300 is formed in a semicircular arc shape and includes a pair of fingers facing each other, and the distance between the fingers is adjusted by the air chuck 500.

Further, the second grip assembly 400 is formed in a forceps shape, and is formed by a pair of fingers facing each other, and the interval between the fingers is adjusted by the air chuck 500.

Further, the pressing head 600 is formed in a cap shape having a circular opening 610 formed at one side.

In addition, the pressing head 600 presses the front and rear or left and right of the cap 800 to couple the cap 800 to the cup 700 in a state where the cap 800 placed on the upper portion of the cup 700 is accommodated inside.

In addition, a camera 230 is further provided at one side of the rotary bracket 200, and the camera 230 is used to confirm an extraction state of coffee beverage or ice extracted by the coffee maker.

In addition, it is characterized in that the camera 230 confirms a state of a picture drawn on the surface of the coffee beverage with milk foam by grasping the second grip assembly 400 of the cow throwing pot 900.

ADVANTAGEOUS EFFECTS OF INVENTION

As described above, according to the gripper for manufacturing coffee beverages of the present invention, the end of the manipulator arm is combined with the unmanned coffee beverage manufacturing apparatus and system, so that not only can the cup, the cup lid, and the milk bottle be stably gripped, but also the cup lid placed on the upper portion of the cup is pressed and combined, thereby automatically performing a series of processes for manufacturing coffee beverages by the manipulator arm.

In addition, the gripping assembly of the mechanical claw is formed in a double-weight type, so that the direction switching is easy, the action range is minimized, and the coffee beverage making time is shortened.

Drawings

Fig. 1 is a perspective view showing a manipulation robot to which a gripper for making a coffee beverage is mounted according to the present invention.

Fig. 2 is a perspective view illustrating a gripper for making a coffee beverage according to the present invention.

Fig. 3 is a view illustrating a state in which a cup is gripped by the first grip assembly according to the present invention.

Fig. 4 is a view illustrating a state in which a milk bottle is gripped by the second grip assembly according to the present invention.

Fig. 5 is a view showing a state in which milk foam is supplied to a cup filled with coffee beverage in a state in which a milk bottle is gripped by the second grip assembly according to the present invention.

Fig. 6 is a view showing a state where the inside of the milk bottle is washed in a state where the milk bottle is gripped by the second grip assembly according to the present invention.

Fig. 7 is a diagram illustrating a state in which the lid is gripped by the first grip assembly according to the present invention.

Fig. 8 is a view showing a state in which the cap is pressed by the pressing head according to the present invention.

Fig. 9 shows a view of a state where a camera is mounted on a mechanical claw for making a coffee beverage according to the present invention.

Wherein the reference numerals are as follows:

100: a robot arm; 200: rotating the bracket; 210: a fixed part; 220: a bonding section; 221: a reinforcing sheet; 230: a camera; 300: a first grasping assembly; 400: a second grasping assembly; 500: a pneumatic chuck; 600: a pressing head; 610: an opening part; 620: concave-convex; 700: a cup; 800: a cup cover; 900: a milk pot; 910: a grip portion.

Detailed Description

Hereinafter, the most preferred embodiments of the present invention will be described in detail in order to explain the present invention in detail to the extent that those skilled in the art to which the present invention pertains can easily carry out the present invention.

As shown in fig. 1 and 2, the gripper for making coffee beverages according to the present invention is coupled to an end of a manipulator robot 100, and includes a rotating frame 200, a first grip assembly 300, a second grip assembly 400, a gas chuck 500, and a pressing head 600.

Before describing the components of the gripper for producing a coffee beverage according to the present invention, the following description will be made. First, a robot for handling coffee beverages used in the coffee beverage making apparatus and system grips a single cup in a cup feeder in which a plurality of cups are stacked and discharges the cup, and moves the cup feeder to an automatic coffee machine to fill coffee beverages in the cups. Then, in a state where a cup is placed on the cup rest portion, a single cup lid is gripped from a cup lid supply device in which a plurality of cup lids are stacked, and then the cup lid is moved to cover an upper portion of the cup.

The present invention relates to a robot for operating a coffee beverage, which is configured to individually perform a series of processes of grasping a cup, discharging the cup, moving the cup to an automatic coffee machine, loading coffee into the cup, and covering an upper portion of the cup with the coffee beverage, unlike a conventional robot which has a plurality of robots for operating a cup or releasing the cup from the cup.

Therefore, in order to perform the above-described process alone, the robot for manipulating must apply the gripper for making coffee beverage of the present invention.

The rotation bracket 200 is rotatably coupled to an end of the robot arm 100 and rotates in a circumferential direction with respect to an axial direction of the robot arm 100. Of course, the rotating bracket 200 may be rotatably coupled to the robot arm 100 in various ways.

As described above, the rotation of the rotary holder 200 can be performed, and the directions of the respective components (the first grip unit, the second grip unit, the pressing head, and the like) can be quickly switched to operate in accordance with the coffee beverage producing process.

The rotating bracket 200 is composed of a plate-shaped fixing portion 210 and a coupling portion 220.

The fixing portion 210 is fixed to an end surface of the robot arm 100 by a fixing member such as a screw.

The coupling parts 220 are bent downward from both ends of the fixing part 210. The air chucks 500 are respectively coupled to the coupling portions 220.

A reinforcing piece 221 is integrally bent at the periphery of the coupling portion 220 to surround a portion of the air chuck 500. The reinforcing pieces 221 disperse the load generated by the air chuck 500, reinforcing the structure and improving the robustness.

The rotating bracket 200 prevents the first and second

grasping elements

300 and 400 from interfering with each other during operation due to the structure of the fixing portion 210 and the coupling portion 220. In addition, the direction change of the first and

second grip assemblies

300 and 400 is easily performed while minimizing the range of motion of the manipulation robot.

As shown in fig. 3, the first grip assembly 300 is coupled to one side of the rotating bracket 200 to grip a cup 700.

The first grip assembly 300 is formed in a semicircular arc shape and is formed by a pair of fingers facing each other.

Such a first grip assembly 300 adjusts the interval of fingers by means of the air chuck 500. That is, the first grip assembly 300 is coupled to the air chuck 500a connected to one side of the rotating bracket 200 so as to be actuated by air pressure.

The first grip assembly 300 is configured to grip the outer surface of the cup 700 by using a pair of fingers driven by the air chuck 500 as a pair of pliers, so that the grip state of the cup 700 is maintained when the cup is discharged from the cup supplying device, when the coffee beverage is filled in the cup in the coffee maker, and when the cup filled with the coffee beverage is placed in the cup mat unit.

In addition, as shown in fig. 7, the first gripping assembly 300 may grip the outer surface of the cap 800, and when the cap 800 is placed on the upper portion of the cup 700 containing coffee beverage, the gripping state of the cap 800 may be maintained when the cap 800 is discharged from the cap supply apparatus.

As shown in fig. 4, the second grip assembly 400 is coupled to the other side of the rotating bracket 200 to grip the milk bottle 900.

Here, the grip 910 of the milk bottle 900 is not a through structure as in the conventional handle, but is configured to have a recessed grip groove formed on a surface thereof that is not through, so that the milk bottle 900 can be easily gripped by the second grip unit 400.

The second grip assembly 400 is formed in a clip shape and is formed of a pair of fingers facing each other.

Such a second grip assembly 400 adjusts the spacing of the fingers by means of the air chuck 500. That is, the second grip assembly 400 is coupled to an air chuck 500b, and the air chuck 500b is coupled to the other side of the rotary bracket 200 to be operated by air pressure.

The second grip assembly 400 is configured such that a pair of fingers driven by the air chuck 500 act as a clip to grip the grip portion 910 of the milk jug 900. Therefore, when milk foam is filled in the milk pot to produce latte drink and milk foam is supplied to the cup 700 filled with coffee drink, the grip state of the milk pot 900 can be stably maintained when the interior of the milk pot 900 is cleaned.

As shown in fig. 5, when milk foam is supplied to the cup 700 containing coffee beverage, the milk foam contained in the milk bottle 900 is poured into the cup 700 by the operation of the robot arm 100 in a state where the milk bottle 900 is gripped by the second grip assembly 400. At this time, the coffee beverage is formed into a heart shape or the like on the surface thereof by various operations of the robot arm 100 driven by the driver, and the latte beverage is produced.

As shown in fig. 6, when the interior of the milk bottle 900 is cleaned, the milk bottle 900 is moved to the cleaning machine side to clean the milk bottle 900 in a state where the milk bottle 900 is gripped by the second grip unit 400, and at this time, the milk bottle 900 is tilted at a predetermined angle by the operation of the robot arm 100 driven by the driver, milk foam remaining in the milk bottle 900 is poured into the cleaning machine, and then the interior of the milk bottle 900 is cleaned by the cleaning water supplied from the cleaning machine, and then the milk bottle 900 is placed at the original position.

In particular, when the milk bottle 900 is cleaned, the milk bottle 900 is reciprocated back and forth toward the cleaning nozzle of the cleaning machine by the operation of the robot arm 100 in a state where the milk bottle 900 is gripped by the second grip unit 400, so that the interior of the milk bottle 900 is cleaned more cleanly. Wherein the washing nozzle of the washing machine has a radial nozzle structure so that washing water can be radially sprayed toward the inner circumferential surface of the milk container 900, thereby washing the milk container 900 clean.

The air chucks 500 are respectively coupled to both sides of the rotary bracket 200 to drive the first grip assembly 300 and the second grip assembly 400.

The air chuck 500 performs a chuck tightening or loosening operation by supplying and releasing air pressure.

In particular, the first and

second gripper assemblies

300 and 400 also perform a linkage operation in conjunction with the operation of the air chuck 500.

As shown in fig. 8, the pressing head 600 is fixed to one side of the second grip assembly 400, and presses the cap 800 placed on the upper portion of the cup 700 to perform a function of combining the cap 800 on the upper portion of the cup 700.

Preferably, the pressing head 600 is fixed to one surface of the air chuck 500b, and the air chuck 500b is coupled to the other side of the rotary bracket 200.

The pressing head 600 is formed in a cap shape having a circular opening 610 formed at one side.

In particular, the inner diameter of the pressing head 600 is formed to have an inner diameter larger than the outer diameter of the cap 800. This is to facilitate the pressing and releasing of the cap 800.

A plurality of concave-convex portions 620 are formed on an inner circumferential surface of the pressing head 600. When the cap 800 placed on the upper portion of the cup 700 is pressed and coupled, the cap 800 can be easily coupled without sliding by the protrusions and recesses 620.

The pressing head 600 presses the front and rear or left and right of the cup 700 and couples the cap 800 to the cup 700 in a state where the cap 800 placed on the upper portion of the cup 700 is accommodated therein. The forward and backward or leftward and rightward movement of the pressing head 600 is performed by the robot arm 100 driven by the driving program in a state where the cup cover 800 is received in the pressing head 600, and the forward and backward or leftward and rightward movement of the pressing head 600 is repeatedly and alternately performed until the cup cover 800 is completely coupled to the cup 700.

Generally, in the case of an unmanned coffee beverage producing apparatus and system, it is important to maintain the taste of coffee beverage well without deterioration, and since most of coffee beverage products have been provided without covering a lid in the past, there is a problem that the taste and flavor of coffee beverage deteriorate.

In order to solve such a problem, the present invention is combined by pressing the cap 800 placed on the upper portion of the cup 700 using the pressing head 600 fixed to the second grip assembly 400 side.

Therefore, the cup 700 filled with the coffee beverage is covered with the cup cover 800, so that the coffee beverage can be prevented from deteriorating the flavor and taste.

As shown in fig. 9, a camera 230 may be provided at one side of the rotary stand 200 for confirming an extraction state of coffee beverage or ice extracted by the coffee maker, or a state of a picture drawn on the surface of the coffee beverage by the second grip assembly 400 gripping the milk maker 900. Preferably, a camera 230 is disposed on an outer surface of the coupling portion 220 of the rotating bracket 200.

The camera 230 photographs an extraction state of coffee beverages or ice extracted from the coffee maker in a state where the first grip assembly 300 grips the cup 700, and transmits a photographed image to the control part when the extracted coffee beverages or ice are not normally extracted, and the control part analyzes the photographed image and transmits the analyzed image to the manager terminal.

That is, the camera 230 photographs whether the coffee beverage or ice is normally extracted from the coffee maker and transmits the photographed image to the control unit, and the control unit analyzes the image transmitted from the camera 230, controls the operation of the coffee maker to retry the extraction of the coffee beverage or ice if it is confirmed that the coffee beverage or ice is not normally extracted from the coffee maker, and recognizes that the coffee beverage or ice is exhausted from the coffee maker or the coffee maker is stuck if the coffee beverage or ice is not extracted again, and transmits the recognized coffee beverage or ice to the administrator terminal.

The control unit compares the image input from the camera 230 with the image information input in advance to determine that coffee beverage is not extracted, controls the operation of the coffee machine so that the coffee machine extracts coffee beverage or ice again, determines that the coffee beverage is depleted in raw material and ice or that the coffee machine is stuck even if the coffee machine is restarted and transmits information related to the exhaustion of the coffee beverage and ice or the failure of the coffee machine to the manager terminal to control so that the manager checks the coffee machine.

In addition, when the milk foam contained in the milk bottle 900 gripped by the second grip assembly 400 draws on the surface of the coffee beverage, the camera 230 may photograph the state thereof and transmit it to the control part.

At this time, the control part compares and analyzes the picture transferred from the control part to the gripper and the picture of the milk foam picture on the coffee drink surface contained in the milk pot 900 gripped by the second grip assembly 400, confirms whether the picture is normally drawn, and transfers the picture to the manager terminal so that the manager checks the gripper when the picture is not normally drawn.

Therefore, the manager can confirm the states of the coffee maker and the robot through the image photographed by the camera 230.

The invention has been described with reference to the accompanying drawings centering on the preferred embodiments, but it will be clear to those skilled in the art from this description that various obvious modifications can be made without departing from the scope of the invention. Accordingly, the scope of the invention should be construed in accordance with the claims that follow as including such many variations.

Claims

1. A gripper for making coffee beverages, coupled to the end of a manipulator robot arm (100), characterized in that it comprises:

a rotating bracket (200) rotatably coupled to an end of the robot arm (100);

a first grasping assembly (300) combined to one side of the rotating bracket (200) and grasping a cup (700) or a cap (800);

a second grip assembly (400) coupled to the other side of the rotary bracket (200) and gripping a milk bottle (900);

an air chuck (500) which is respectively combined on both sides of the rotary bracket (200) to drive the first gripping assembly (300) and the second gripping assembly (400); and

and the pressing head (600) is fixed on one side of the second grabbing assembly (400) and presses the cup cover (800) placed on the upper part of the cup (700) to enable the cup cover (800) to be combined with the upper part of the cup (700).

2. The gripper for making a coffee beverage according to claim 1,

the rotating stand (200) comprises: a fixing part (210) that is fixed in contact with the end surface of the robot arm (100); and a coupling part (220) bent to be inclined downward from both ends of the fixing part (210), and a reinforcing piece (221) integrally bent to surround a portion of the air chuck (500) at a periphery of the coupling part (220).

3. The gripper for making a coffee beverage according to claim 1,

the first grip assembly (300) is formed in a semicircular arc shape and is formed of a pair of fingers facing each other, and the interval between the fingers is adjusted by the air chuck (500).

4. The gripper for making a coffee beverage according to claim 1,

the second grip assembly (400) is formed in a forceps shape, and is formed of a pair of fingers facing each other, and the interval between the fingers is adjusted by the air chuck (500).

5. The gripper for making a coffee beverage according to claim 1,

the pressing head (600) is configured in a cap shape having a circular opening (610) formed on one side.

6. Gripper for making a coffee beverage according to claim 1 or 5,

the pressing head (600) presses the front and back or the left and right of the cup cover (800) to combine the cup cover (800) with the cup (700) in a state that the cup cover (800) placed on the upper part of the cup (700) is accommodated in the pressing head.

7. The gripper for making a coffee beverage according to claim 1,

a camera (230) is provided at one side of the rotary stand (200), and the camera (230) is used to photograph the state of the coffee beverage extracted by the coffee maker.

8. The gripper for making a coffee beverage according to claim 7,

the camera (230) confirms the state of a picture drawn on the surface of the coffee beverage with milk foam by the second grip assembly (400) gripping the cow throwing pot (900).